Merge remote-tracking branch 'origin/branch-silver-14493' into branch-silver-14493
# Conflicts: # TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java
This commit is contained in:
@ -0,0 +1,91 @@
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package org.firstinspires.ftc.teamcode;
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import com.acmerobotics.dashboard.FtcDashboard;
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import com.acmerobotics.dashboard.config.Config;
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import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
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import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
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import com.qualcomm.robotcore.eventloop.opmode.OpMode;
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import org.firstinspires.ftc.robotcore.external.Telemetry;
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import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
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/**
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* This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
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* a circle, but some Bezier curves that have control points set essentially in a square. However,
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* it turns enough to tune your centripetal force correction and some of your heading. Some lag in
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* heading is to be expected.
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*
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* @author Anyi Lin - 10158 Scott's Bots
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* @author Aaron Yang - 10158 Scott's Bots
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* @author Harrison Womack - 10158 Scott's Bots
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* @version 1.0, 3/12/2024
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*/
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@Config
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@Autonomous (name = "Test", group = "Autonomous Pathing Tuning")
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public class AutoTest extends OpMode {
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private Telemetry telemetryA;
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private Follower follower;
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private PathChain test;
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@Override
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public void init() {
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follower = new Follower(hardwareMap);
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test = follower.pathBuilder()
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.addPath(
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new BezierLine(
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new Point(8.000, 60.000, Point.CARTESIAN),
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new Point(18.000, 60.000, Point.CARTESIAN)
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)
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)
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.addPath(
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// Line 2
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new BezierCurve(
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new Point(18.000, 60.000, Point.CARTESIAN),
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new Point(18.000, 23.000, Point.CARTESIAN),
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new Point(48.000, 23.000, Point.CARTESIAN)
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)
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)
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.addPath(
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// Line 3
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new BezierLine(
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new Point(48.000, 23.000, Point.CARTESIAN),
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new Point(60.000, 36.000, Point.CARTESIAN)
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)
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)
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.addPath(
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// Line 4
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new BezierLine(
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new Point(60.000, 36.000, Point.CARTESIAN),
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new Point(60.000, 49.000, Point.CARTESIAN)
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)
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).build();
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follower.followPath(test);
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telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
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telemetryA.update();
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}
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@Override
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public void loop() {
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follower.update();
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if (follower.atParametricEnd()) {
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follower.followPath(test);
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}
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follower.telemetryDebug(telemetryA);
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}
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}
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@ -0,0 +1,128 @@
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package org.firstinspires.ftc.teamcode;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
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public class BlueAuto {
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public void GeneratedPath() {
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PathBuilder builder = new PathBuilder();
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builder
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.addPath(
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// Line 1
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new BezierLine(
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new Point(9.757, 84.983, Point.CARTESIAN),
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new Point(8.442, 129.227, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 2
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new BezierLine(
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new Point(8.442, 129.227, Point.CARTESIAN),
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new Point(52.762, 101.628, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 3
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new BezierLine(
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new Point(52.762, 101.628, Point.CARTESIAN),
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new Point(79.224, 116.564, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 4
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new BezierLine(
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new Point(79.224, 116.564, Point.CARTESIAN),
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new Point(54.548, 130.525, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 5
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new BezierLine(
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new Point(54.548, 130.525, Point.CARTESIAN),
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new Point(12.338, 133.772, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 6
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new BezierLine(
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new Point(12.338, 133.772, Point.CARTESIAN),
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new Point(52.437, 101.628, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 7
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new BezierLine(
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new Point(52.437, 101.628, Point.CARTESIAN),
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new Point(71.594, 120.947, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 8
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new BezierLine(
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new Point(71.594, 120.947, Point.CARTESIAN),
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new Point(52.275, 120.785, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 9
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new BezierLine(
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new Point(52.275, 120.785, Point.CARTESIAN),
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new Point(11.039, 131.012, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 10
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new BezierLine(
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new Point(11.039, 131.012, Point.CARTESIAN),
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new Point(70.782, 120.460, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 11
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new BezierLine(
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new Point(70.782, 120.460, Point.CARTESIAN),
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new Point(50.327, 142.377, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 12
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new BezierLine(
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new Point(50.327, 142.377, Point.CARTESIAN),
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new Point(13.799, 134.422, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 13
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new BezierLine(
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new Point(13.799, 134.422, Point.CARTESIAN),
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new Point(13.799, 134.422, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 14
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new BezierLine(
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new Point(13.799, 134.422, Point.CARTESIAN),
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new Point(71.919, 103.901, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation();
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}
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}
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@ -0,0 +1,99 @@
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package org.firstinspires.ftc.teamcode;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
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import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
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public class RedAuto {
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public class GeneratedPath {
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public GeneratedPath() {
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PathBuilder builder = new PathBuilder();
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builder
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.addPath(
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// Line 1
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new BezierLine(
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new Point(131.499, 58.931, Point.CARTESIAN),
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new Point(131.986, 18.183, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 2
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new BezierLine(
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new Point(131.986, 18.183, Point.CARTESIAN),
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new Point(90.264, 40.911, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 3
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new BezierLine(
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new Point(90.264, 40.911, Point.CARTESIAN),
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new Point(83.445, 26.300, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 4
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new BezierLine(
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new Point(83.445, 26.300, Point.CARTESIAN),
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new Point(136.207, 14.286, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 5
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new BezierLine(
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new Point(136.207, 14.286, Point.CARTESIAN),
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new Point(81.497, 24.352, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 6
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new BezierLine(
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new Point(81.497, 24.352, Point.CARTESIAN),
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new Point(82.634, 12.988, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 7
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new BezierLine(
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new Point(82.634, 12.988, Point.CARTESIAN),
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new Point(133.935, 11.364, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 8
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new BezierLine(
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new Point(133.935, 11.364, Point.CARTESIAN),
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new Point(82.309, 11.689, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 9
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new BezierLine(
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new Point(82.309, 11.689, Point.CARTESIAN),
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new Point(83.445, 2.598, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation()
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.addPath(
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// Line 10
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new BezierLine(
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new Point(83.445, 2.598, Point.CARTESIAN),
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new Point(132.149, 10.390, Point.CARTESIAN)
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)
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)
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.setTangentHeadingInterpolation();
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}
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}
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}
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@ -71,7 +71,8 @@ measurements will be in centimeters.
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of how fast your robot will coast to a stop. Honestly, this is up to you. I personally used 4, but
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what works best for you is most important. Higher numbers will cause a faster brake, but increase
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oscillations at the end. Lower numbers will do the opposite. This can be found on line `107` in
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`FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more sensitive than the others. For reference,
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`FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more
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* sensitive than the others. For reference,
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my P values were in the hundredths and thousandths place values, and my D values were in the hundred
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thousandths and millionths place values. To tune this, enable `useDrive`, `useHeading`, and
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`useTranslational` in the `Follower` dropdown in FTC Dashboard. Next, run `StraightBackAndForth`
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Reference in New Issue
Block a user